NDLI: Design of LQ regulator for linear systems with algebraic-equation constraints

Content Provider	IEEE Xplore Digital Library
Author	Tie-Jun Yu Ching-Fang Lin Muller, P.C.
Copyright Year	1996
Description	Author affiliation: American GNC Corp., Chatsworth, CA, USA (Tie-Jun Yu)
Abstract	The problem of linear quadratic (LQ) optimal control of linear systems with algebraic-equation constraint is considered in this paper. Based on the stabilized constraint relation, this problem is transformed to an optimal control problem with equality constraints of the control and state variables. Then, using optimal control theory, the LQ regulator is derived which minimizes the given quadratic performance criterion and simultaneously forces the closed-loop system to satisfy the constraints. The sufficient condition for the existence of an LQ regulator and the stability of the corresponding closed-loop system are studied, which show that the closed-loop poles consist of the poles of the stabilized constraint relation and the other stable poles which are independent of the stabilized constraint relation. The application to a constrained mechanical system is discussed, and two examples are also given to illustrate the validity of the design method presented.
Starting Page	4146
Ending Page	4151
File Size	517339
Page Count	6
File Format	PDF
ISBN	0780335902
ISSN	01912216
DOI	10.1109/CDC.1996.577429
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-12-13
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Regulators Linear systems Control systems Optimal control Lagrangian functions Motion control Mechanical systems Power system dynamics Force control Robot kinematics
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

On mechanical control systems with nonholonomic constraints and symmetries

Optimal control of underactuated nonholonomic mechanical systems

Design of linear regulators with energy constraints

Position/force control design for constrained mechanical systems: Lyapunov's direct method

A strategy for fine motion manipulation of robots using kinematic constraints

Time-optimal PTP motion including dynamics for robotic manipulators

An optimal controller for a nonlinear robotic-system

Designing robots for optimal performance during repetitive motion

Development of the generalized d'Alembert equations of motion for mechanical manipulators

Design of LQ regulator for linear systems with algebraic-equation constraints

Similar Documents

On mechanical control systems with nonholonomic constraints and symmetries

Optimal control of underactuated nonholonomic mechanical systems

Design of linear regulators with energy constraints

Position/force control design for constrained mechanical systems: Lyapunov's direct method

A strategy for fine motion manipulation of robots using kinematic constraints

Time-optimal PTP motion including dynamics for robotic manipulators

An optimal controller for a nonlinear robotic-system

Designing robots for optimal performance during repetitive motion

Development of the generalized d'Alembert equations of motion for mechanical manipulators

Design of LQ regulator for linear systems with algebraic-equation constraints